Control system design of spatial disorientation trainer
Апстракт
The spatial disorientation trainer (SDT) is a dynamic flight simulator used to enhance ability
of pilots of modern combat aircrafts to deal with dangerous effects of spatial disorientation. This
device can be modeled and controlled as 4DoF robot manipulator. In this paper, control system
design of SDT based on a dynamic model is presented. Two control strategies are compared: 1)
computed torque method with feedforward compensation of nonlinearities and cross-coupling
effects in dynamic model; 2) single joint (decentralized) PD position controller. PD controller is
designed for the actuator model which includes inertia reflected on rotor shafts (effective inertia).
Position feedback design considers structural natural frequencies of the manipulator. Effective
inertias of SDT for commanded motions are obtained from robot inverse dynamic model which is
developed using recursive Newton-Euler equations. Simulation of position tracking for
commanded motion is performed in Matlab Si...mulink.
Кључне речи:
spatial disorientation trainer / robot control / computed torque / inverse dynamicsИзвор:
6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017, 2017, 1-10Издавач:
- Beograd : Srpsko društvo za mehaniku
Финансирање / пројекти:
- Одрживост и унапређење машинских система у енергетици и транспорту применом форензичког инжењерства, еко и робуст дизајна (RS-MESTD-Technological Development (TD or TR)-35006)
- Развој уређаја за тренинг пилота и динамичку симулацију лета модерних борбених авиона и то 3-осне центрифуге и 4-осног уређаја за просторну дезоријентацију пилота (RS-MESTD-Technological Development (TD or TR)-35023)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Vidaković, Jelena AU - Lazarević, Mihailo AU - Kvrgić, Vladimir AU - Lutovac-Banduka, Maja AU - Mitrović, Stefan PY - 2017 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4147 AB - The spatial disorientation trainer (SDT) is a dynamic flight simulator used to enhance ability of pilots of modern combat aircrafts to deal with dangerous effects of spatial disorientation. This device can be modeled and controlled as 4DoF robot manipulator. In this paper, control system design of SDT based on a dynamic model is presented. Two control strategies are compared: 1) computed torque method with feedforward compensation of nonlinearities and cross-coupling effects in dynamic model; 2) single joint (decentralized) PD position controller. PD controller is designed for the actuator model which includes inertia reflected on rotor shafts (effective inertia). Position feedback design considers structural natural frequencies of the manipulator. Effective inertias of SDT for commanded motions are obtained from robot inverse dynamic model which is developed using recursive Newton-Euler equations. Simulation of position tracking for commanded motion is performed in Matlab Simulink. PB - Beograd : Srpsko društvo za mehaniku C3 - 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017 T1 - Control system design of spatial disorientation trainer EP - 10 SP - 1 UR - https://hdl.handle.net/21.15107/rcub_machinery_4147 ER -
@conference{ author = "Vidaković, Jelena and Lazarević, Mihailo and Kvrgić, Vladimir and Lutovac-Banduka, Maja and Mitrović, Stefan", year = "2017", abstract = "The spatial disorientation trainer (SDT) is a dynamic flight simulator used to enhance ability of pilots of modern combat aircrafts to deal with dangerous effects of spatial disorientation. This device can be modeled and controlled as 4DoF robot manipulator. In this paper, control system design of SDT based on a dynamic model is presented. Two control strategies are compared: 1) computed torque method with feedforward compensation of nonlinearities and cross-coupling effects in dynamic model; 2) single joint (decentralized) PD position controller. PD controller is designed for the actuator model which includes inertia reflected on rotor shafts (effective inertia). Position feedback design considers structural natural frequencies of the manipulator. Effective inertias of SDT for commanded motions are obtained from robot inverse dynamic model which is developed using recursive Newton-Euler equations. Simulation of position tracking for commanded motion is performed in Matlab Simulink.", publisher = "Beograd : Srpsko društvo za mehaniku", journal = "6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017", title = "Control system design of spatial disorientation trainer", pages = "10-1", url = "https://hdl.handle.net/21.15107/rcub_machinery_4147" }
Vidaković, J., Lazarević, M., Kvrgić, V., Lutovac-Banduka, M.,& Mitrović, S.. (2017). Control system design of spatial disorientation trainer. in 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017 Beograd : Srpsko društvo za mehaniku., 1-10. https://hdl.handle.net/21.15107/rcub_machinery_4147
Vidaković J, Lazarević M, Kvrgić V, Lutovac-Banduka M, Mitrović S. Control system design of spatial disorientation trainer. in 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017. 2017;:1-10. https://hdl.handle.net/21.15107/rcub_machinery_4147 .
Vidaković, Jelena, Lazarević, Mihailo, Kvrgić, Vladimir, Lutovac-Banduka, Maja, Mitrović, Stefan, "Control system design of spatial disorientation trainer" in 6th International Congress of Serbian Society of Mechanics, Tara, Serbia, June 19-21, 2017 (2017):1-10, https://hdl.handle.net/21.15107/rcub_machinery_4147 .